Water forcible entry robot

Abstract

The invention discloses a water forcible entry robot, and belongs to the technical field of forcible entry equipment. Comprising a forcible entry frame, a moving device, an equidistant device, a swing assembly and a high-pressure punching gun assembly. A connecting part is arranged on the forcible entry frame, the moving device is movably arranged on the forcible entry frame, the equidistant device is arranged on the moving device, the swing assembly is arranged on the equidistant device, and the high-pressure punching gun assembly is arranged on the swing assembly. The swing assembly drives the high-pressure punching gun assembly to swing, and a high-pressure nozzle is arranged at the lower end of the high-pressure punching gun assembly. The technical problems that the crushing effect and the crushing efficiency are low and need to be improved due to the fact that a crushed part is linearly crushed in a linear motion mode in traditional water breaking equipment can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of demolition equipment, and in particular to a water demolition robot. Background Art

[0002] In order to improve the environmental protection of concrete demolition, high-pressure water jet is usually used to demolish concrete at present. High-pressure water jet demolition of concrete is to use high-pressure water jet equipment to remove old and damaged concrete. Compared with traditional concrete demolition methods, high-pressure water jet demolition of concrete has higher safety, stronger applicability, higher accuracy, better environmental protection performance and lower economic cost. However, in the prior art, for example, a utility model patent with the publication number of CN221143692U, a concrete demolition swing mechanism, includes a base. Four corners at the lower end of the base are jointly provided with a lifting mechanism. A moving device is arranged on the base. A crank and rocker structure is arranged on the moving device. A high-pressure water demolition device is installed on the crank and rocker structure. A gun head is arranged on the high-pressure water demolition device. The utility model can control the gun head to reciprocate from left to right during the process of demolishing concrete by high-pressure water jet. When reaching the left and right positions, the gun head switches by 45 degrees at the same time. And when switching the gun head, the gun head does not dry with the ground, so that the gun head shovels into the concrete obliquely downward at 45 degrees, which can effectively improve the demolition efficiency of the concrete. However, in the above traditional scheme, the high-pressure water jet nozzle moves linearly relative to the piece to be broken, and the breaking of the piece to be broken is linear breaking, and its breaking effect and breaking efficiency are both relatively low and need to be improved. Summary of the Invention

[0003] The invention object of the present invention is to provide a water demolition robot in view of the above problems, and solve the technical problems that in the traditional water demolition equipment, the linear breaking of the piece to be broken with linear motion has relatively low breaking effect and breaking efficiency and needs to be improved.

[0004] To achieve the above object, the technical solution adopted by the present invention is:

[0005] A water demolition robot includes a demolition frame, a moving device, an equidistant device, a swing assembly and a high-pressure flushing gun assembly; a connecting part is arranged on the demolition frame. The moving device is movably installed on the demolition frame. The equidistant device is installed on the moving device. The swing assembly is installed on the equidistant device. The high-pressure flushing gun assembly is installed on the swing assembly; the swing assembly drives the high-pressure flushing gun assembly to swing, and a high-pressure nozzle is arranged at the lower end of the high-pressure flushing gun assembly.

[0006] Further, the mobile device includes a seat plate, pulleys, a first driving device, a gear, and a rack. The pulleys are installed on the seat plate. A sliding rod is provided on the demolition frame, and the pulleys are slidably clamped on the sliding rod. The first driving device is installed on the seat plate. A gear is provided at the output end of the first driving device. The rack is installed on the seat plate, and the gear meshes with the rack.

[0007] Further, the sliding rod includes an upper sliding rod and a lower sliding rod. The pulleys include an upper pulley and a lower pulley. Annular grooves are provided on the outer circumferences of the upper pulley and the lower pulley. The upper pulley is clamped at the upper end of the upper sliding rod through the annular groove, and the lower pulley is clamped at the lower end of the lower sliding rod through the annular groove.

[0008] Further, the equidistant device includes a second driving device, a crank, a swing block, and a guide rod. The crank, the swing block, and the guide rod are installed on the mobile device and form a crank and swing block mechanism. The second driving device drives the crank to rotate; the swing assembly is installed on the guide rod.

[0009] Further, the equidistant device further includes a first bearing seat. The first bearing seat is installed at the lower part of the mobile device. A rotating shaft is provided at one end of the swing block, and the rotating shaft is rotatably installed on the first bearing seat.

[0010] Further, a dovetail groove is provided on the swing block. The swing block is arranged along with the dovetail groove, and the swing block is slidably inserted into the dovetail groove.

[0011] Further, the swing assembly includes a U-shaped seat, a swing mounting seat, a connecting member, and a third driving device. The U-shaped seat is installed on the equidistant device. The middle part of the swing mounting seat is rotatably connected to both ends of the U-shaped seat. One end of the connecting member is rotatably connected to the end of the U-shaped seat, and the other end is rotatably connected to the output end of the third driving device; the output end of the third driving device is an eccentric rotating output end.

[0012] Further, a through mounting hole is provided in the middle part of the swing mounting seat. A clamping block is provided in the mounting hole. A number of fastening bolts are screwed on the swing mounting seat, and one end of the fastening bolt can abut against the clamping block.

[0013] Further, the third driving device includes a motor, a second bearing seat, and a crankshaft. The second bearing seat is installed at both ends of the U-shaped seat. One end of the crankshaft is set as a rotating end and is rotatably installed on the second bearing seat. The output end of the motor drives the rotating end of the crankshaft to rotate coaxially. The other end of the crankshaft is an eccentric end, and the eccentric end rotates eccentrically. The eccentric end is rotatably connected to the connecting member.

[0014] Furthermore, a protective frame is provided at the lower part of the demolition frame, and the lower end of the high-pressure impact gun assembly is located inside the protective frame and swings.

[0015] Due to the adoption of the above technical solution, the present invention has the following beneficial effects:

[0016] 1. When the present invention is in use, it can be connected to an excavator through a connecting part, and moved to the demolition point by operating the excavator. Subsequently, the manipulator and the angle of the end of the manipulator are operated to align the nozzle with the demolition point. For demolition points at different positions and angles (for example, the bridge paving layer is a horizontal plane, the bridge cement guardrail is a side surface, and the bridge box girder / T beam is a top surface), it can rotate with multiple degrees of freedom to correspond to the demolition angle, and adjust the height of the impact gun to make the distance between the nozzle and the object to be demolished the best target distance. During specific operation, the moving device can move back and forth in a straight line direction, and through the equidistant device, the distance between the nozzle and the demolition surface can be kept consistent during the commutation and swinging demolition process. Through the action of the swinging assembly, the nozzle can reciprocate along the direction perpendicular to the movement direction of the moving device; based on the combined action of the moving device, the equidistant device and the swinging assembly, the nozzle forms a compound movement that moves at a fixed distance from the demolition surface and along a quasi-sine curve; in this way, during one linear movement of the moving device, the nozzle can achieve demolition of a certain surface range on the demolition surface, which is more efficient than the traditional water demolition equipment where the moving device only performs one surface demolition on the demolition surface during one linear movement, and solves the technical problems that the traditional water demolition equipment has linear crushing for the broken parts in a straight line motion, and its crushing effect and crushing efficiency are both relatively low and need to be improved.

[0017] 2. The moving device of the present invention is provided with detachable pulleys, and the structure installed on the moving device and itself can be removed by removing the pulleys, and can be installed on an AGV for fully automatic demolition operation, expanding the usage mode of the device and increasing the applicable scenarios of the device. The swinging device is in the form of a crankshaft and a connecting piece, which converts the rotation output by the third driving device into the movement of the swinging mounting seat, and then into the swinging action of the high-pressure impact gun assembly, with a simple and reliable structure, improving the reliability of the device.

[0018] 3. The demolition frame of the present invention is provided with a protective frame, which can prevent people from approaching and form a protective effect, and at the same time can facilitate the operator to view the corresponding demolition range, improving the convenience of operation. Description of the Drawings

[0019] Figure 1 is the state diagram of the present invention when used in cooperation with an excavator.

[0020] Figure 2 is the three-dimensional structure diagram of the present invention.

[0021] Figure 3 is the three-dimensional structure diagram of the present invention (where the demolition frame is not shown).

[0022] Figure 4 It is a three-dimensional sectional view of the swing assembly and the high-pressure impact gun assembly of the present invention.

[0023] Figure 5 It is a schematic diagram of the movement trajectory of the nozzle of the present invention.

[0024] In the attached drawings, 100 - water demolition robot, 200 - excavator, 1 - demolition frame, 2 - moving device, 3 - equidistant device, 4 - swing assembly, 5 - high-pressure impact gun assembly, 11 - connecting part, 12 - upper sliding rod, 13 - lower sliding rod, 14 - protective frame, 21 - seat plate, 22 - pulley, 23 - first driving device, 24 - gear, 25 - rack, 26 - travel switch assembly, 31 - second driving device, 32 - crank, 33 - swing block, 34 - guide rod, 35 - first bearing seat, 41 - U-shaped seat, 42 - swing mounting seat, 43 - connecting piece, 44 - third driving device, 45 - clamping block, 46 - fastening bolt, 47 - motor, 48 - second bearing seat, 49 - crankshaft, 51 - high-pressure nozzle. Detailed implementation manners

[0025] The following further describes the specific implementation of the invention with reference to the attached drawings.

[0026] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as "center", "length", "width", "upper", "lower", "vertical", "horizontal", "top", "bottom", "inner", etc. is based on the orientation or positional relationship shown in the attached drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0027] In the present invention, unless otherwise clearly specified and limited, terms such as "installation", "connection", "connection", "fixation", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be directly connected, or indirectly connected through an intermediate medium, and can be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0028] In the present invention, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include direct contact between the first and second features, or may include the first and second features not being in direct contact but in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "under" and "beneath" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the horizontal height of the first feature is less than that of the second feature.

[0029] Please refer to Figures 1 to 5 , a water demolition robot 100, comprising a demolition frame 1, a moving device 2, an equidistant device 3, a swinging assembly 4 and a high-pressure impact gun assembly 5; a connecting portion 11 is provided on the demolition frame 1, the moving device 2 is movably installed on the demolition frame 1, the equidistant device 3 is installed on the moving device 2, the swinging assembly 4 is installed on the equidistant device 3, and the high-pressure impact gun assembly 5 is installed on the swinging assembly 4; the swinging assembly 4 drives the high-pressure impact gun assembly 5 to swing, and a high-pressure nozzle 51 is provided at the lower end of the high-pressure impact gun assembly 5. During use, it can be connected to an excavator 200 through the connecting portion 11, moved to the demolition point by operating the excavator 200, and then the manipulator and the angle of the end of the manipulator are operated to align the nozzle with the demolition point. For demolition points at different positions and different angles (for example, the bridge paving layer is a horizontal plane, the bridge cement guardrail is a side surface, and the bridge box girder / T beam is a top surface), the corresponding demolition angle is adjusted by the multi-degree-of-freedom rotation of the manipulator of the excavator 200, and the height of the impact gun is adjusted to make the distance between the nozzle and the object to be demolished the optimal target distance. The moving direction of the moving device 2 is the X-axis direction, and the swinging direction of the swinging assembly 4 for driving the nozzle is the Y-axis direction.

[0030] In this embodiment, the mobile device 2 includes a seat plate 21, pulleys 22, a first driving device 23, a gear 24 and a rack 25. The pulleys 22 are installed on the seat plate 21. A slide bar is provided on the demolition frame 1, and the pulleys 22 can be slidably clamped on the slide bar. The first driving device 23 is installed on the seat plate 21. A gear 24 is provided at the output end of the first driving device 23. The rack 25 is installed on the seat plate 21, and the gear 24 meshes with the rack 25. Specifically, the slide bar includes an upper slide bar 12 and a lower slide bar 13. The pulleys 22 include an upper pulley 22 and a lower pulley 22. Annular grooves are provided on the outer peripheries of the upper pulley 22 and the lower pulley 22. The upper pulley 22 is clamped at the upper end of the upper slide bar 12 through the annular groove, and the lower pulley 22 is clamped at the lower end of the lower slide bar 13 through the annular groove. By providing the annular groove, the slipping of the upper pulley 22 and the lower pulley 22 can be effectively prevented. In addition, the mobile device 2 further includes a travel switch assembly 26. The travel switch assembly 26 is provided on the demolition frame 1. When the seat plate 21 moves to a specific position, the travel switch on the travel switch assembly 26 can be triggered, so that the mobile device 2 performs the next cycle of movement. By providing detachable pulleys 22 on the mobile device 2, the structures installed on the mobile device 2 and thereon can be removed by removing the pulleys 22, and can be installed on an AGV for fully automatic demolition operations, expanding the usage mode of the device and increasing the applicable scenarios of the device.

[0031] In this embodiment, the equidistant device 3 includes a second driving device 31, a crank 32, a swing block 33 and a guide rod 34. The crank 32, the swing block 33 and the guide rod 34 are installed on the mobile device 2 and form a crank 32 swing block 33 mechanism. The second driving device 31 drives the crank 32 to rotate. The swing assembly 4 is installed on the guide rod 34. Specifically, the equidistant device 3 further includes a first bearing seat 35. The first bearing seat 35 is installed at the lower part of the mobile device 2. A rotating shaft is provided at one end of the swing block 33, and the rotating shaft is rotatably installed on the first bearing seat 35. In addition, a dovetail groove is provided on the swing block 33. The swing block 33 is arranged along with the dovetail groove, and the swing block 33 is slidably inserted into the dovetail groove. When the second driving device 31 drives the crank 32 to rotate to the upper part, the guide rod 34 moves upward along with the crank 32. The swing block 33 can rotate along with the guide rod 34 and limit the lateral displacement of the guide rod 34, realizing the height position adjustment of the guide rod 34 and the swing assembly 4 and the high-pressure impact gun assembly 5 thereon.

[0032] In this embodiment, the swing assembly 4 includes a U-shaped seat 41, a swing mounting seat 42, a connecting member 43 and a third driving device 44. The U-shaped seat 41 is mounted on the equidistant device 3. The middle of the swing mounting seat 42 is rotatably connected to both ends of the U-shaped seat 41. One end of the connecting member 43 is rotatably connected to the end of the U-shaped seat 41, and the other end is rotatably connected to the output end of the third driving device 44. The output end of the third driving device 44 is an eccentric rotating output end. A through mounting hole is provided in the middle of the swing mounting seat 42, and a clamping block 45 is provided in the mounting hole. A plurality of fastening bolts 46 are screwed on the swing mounting seat 42, and one end of the fastening bolt 46 can be abutted against the clamping block 45. Specifically, the third driving device 44 includes a motor 47, a second bearing seat 48 and a crankshaft 49. The second bearing seat 48 is mounted on both ends of the U-shaped seat 41. One end of the crankshaft 49 is set as a rotating end and is rotatably mounted on the second bearing seat 48. The output end of the motor 47 drives the rotating end of the crankshaft 49 to rotate coaxially. The other end of the crankshaft 49 is an eccentric end, which rotates eccentrically and is rotatably connected to the connecting member 43. The swing device is provided with a crankshaft 49 and a connecting member 43, so that the rotation output by the third driving device 44 is converted into the movement of the swing mounting seat 42, and converted into the swinging action of the high-pressure punch gun assembly 5. The structure is simple and reliable, and the reliability of the device is improved.

[0033] In this embodiment, a protective frame 14 is provided at the lower part of the demolition frame 1, and the lower end of the high-pressure punching gun assembly 5 is swung in the protective frame 14. The protective frame 14 can prevent people from approaching the surface to form a protective effect, and at the same time, it can facilitate the operator to view the corresponding demolition range, thereby improving the convenience of operation.

[0034] When in use, the high-pressure flushing gun assembly 5 and the high-pressure pump station are connected through a high-pressure water pipe. The high-pressure pump station can adjust the water jet pressure according to the strength of the demolished object. At the same time, it has a remote control start and stop function. It can be remotely started and stopped at any time during bridge demolition, and the operator does not need to walk to the high-pressure pump station for operation. Among them, the water source can be supplied by the surrounding river basin or water truck. Before the water source enters the high-pressure pump station, it is first filtered by an external four-stage water filtration device (first-level bag, second-level recoil, third-level, and fourth-level bag). At the same time, a second-level filter (both bags) is built into the high-pressure pump station to ensure the clean water quality to the greatest extent without damaging the high-pressure components.

[0035] In this embodiment, the above description is a detailed description of the preferred feasible embodiment of the present invention, but the embodiment is not used to limit the scope of the patent application of the present invention. All equivalent changes or modified changes completed under the technical spirit suggested by the present invention should belong to the patent scope covered by the present invention.

Claims

1. A water demolition robot, characterized in that: It includes a demolition frame, a moving device, an equidistant device, a swing assembly and a high-pressure flushing gun assembly; a connecting part is provided on the demolition frame, the moving device is movably installed on the demolition frame, the equidistant device is installed on the moving device, the swing assembly is installed on the equidistant device, and the high-pressure flushing gun assembly is installed on the swing assembly; the swing assembly drives the high-pressure flushing gun assembly to swing, and a high-pressure nozzle is provided at the lower end of the high-pressure flushing gun assembly.

2. The water demolition robot according to claim 1, characterized in that: The moving device includes a seat plate, pulleys, a first driving device, a gear and a rack. The pulleys are detachably installed on the seat plate. A sliding rod is provided on the demolition frame, and the pulleys are slidably clamped on the sliding rod. The first driving device is installed on the seat plate, the output end of the first driving device is provided with the gear, the rack is installed on the seat plate, and the gear meshes with the rack.

3. The water demolition robot according to claim 2, characterized in that: The sliding rod includes an upper sliding rod and a lower sliding rod. The pulleys include an upper pulley and a lower pulley. Annular grooves are provided on the outer peripheries of the upper pulley and the lower pulley. The upper pulley is clamped on the upper end of the upper sliding rod through the annular groove, and the lower pulley is clamped on the lower end of the lower sliding rod through the annular groove.

4. The water demolition robot according to claim 1, characterized in that: The equidistant device includes a second driving device, a crank, a rocker block and a guide rod. The crank, the rocker block and the guide rod are installed on the moving device and form a crank-rocker mechanism. The second driving device drives the crank to rotate; the swing assembly is installed on the guide rod.

5. The water demolition robot according to claim 4, characterized in that: The equidistant device further includes a first bearing seat. The first bearing seat is installed on the lower part of the moving device. One end of the rocker block is provided with a rotating shaft, and the rotating shaft is rotatably installed on the first bearing seat.

6. The water demolition robot according to claim 4, characterized in that: A dovetail groove is provided on the rocker block. The rocker block is arranged along with the dovetail groove, and the rocker block is slidably inserted into the dovetail groove.

7. The water demolition robot according to claim 1, wherein: The swing assembly includes a U-shaped seat, a swing mounting seat, a connecting piece and a third driving device. The U-shaped seat is installed on the equidistant device. The middle part of the swing mounting seat is rotatably connected to the two ends of the U-shaped seat. One end of the connecting piece is rotatably connected to the end of the U-shaped seat, and the other end is rotatably connected to the output end of the third driving device; the output end of the third driving device is an eccentric rotating output end.

8. The water jetting demolition robot according to claim 7, wherein: A through mounting hole is provided in the middle of the swing mounting seat. A clamping block is provided in the mounting hole. A number of fastening bolts are screwed on the swing mounting seat, and one end of the fastening bolt can abut against the clamping block.

9. The water demolition robot according to claim 7, wherein: The third driving device includes a motor, a second bearing seat and a crankshaft. The second bearing seat is installed on the two ends of the U-shaped seat. One end of the crankshaft is set as a rotating end and is rotatably installed on the second bearing seat. The output end of the motor drives the rotating end of the crankshaft to rotate coaxially. The other end of the crankshaft is an eccentric end, and the eccentric end rotates eccentrically. The eccentric end is rotatably connected to the connecting piece.

10. The water demolition robot according to claim 1, characterized in that: A protective frame is provided at the lower part of the demolition frame, and the lower end of the high-pressure flushing gun assembly swings within the protective frame.

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